JP6754704B2 - Display and robot - Google Patents

Description

The present invention relates to a display and a robot, and relates to a display for displaying an image and a robot provided with the display.

Patent Document 1 describes an artificial eye and a robot using the artificial eye, which projects a flat electronic display element onto a three-dimensional curved screen by an optical system and expresses emotions by a pattern display similar to the eyes according to an electric signal corresponding to the emotions. Is disclosed. Patent Document 1 discloses that an optical system made of glass or plastic fiber is used (paragraph [0025]).

Patent Document 2 discloses an organic EL device that extracts parallel light by using an optical fiber array substrate that guides light emitted from a light emitting layer in the thickness direction of the substrate (paragraph [0022]).

Japanese Unexamined Patent Publication No. 2003-205489 Japanese Unexamined Patent Publication No. 2006-310234

Eyes have an important meaning as a means of expressing emotions in devices such as pet robots in which emotional expression functions play an important role. In the past, a display was used as an eye, but since the display is flat and does not have the roundness of the eyes of an actual living thing, it is not different from the display of an image on a normal display, so it has an emotional expression function. There was a problem of scarcity.

Patent Document 1 describes that a variety of emotional expressions can be achieved by projecting a flat electronic display element onto a three-dimensional curved screen using an optical system made of glass or plastic fiber. Document 2 describes that parallel light is extracted by an optical fiber array substrate in which a plurality of glass fibers are bundled and bonded. However, the light guide optical systems described in Patent Document 1 and Patent Document 2 have a problem that the mass per unit volume becomes large.

In general, in a robot, it is preferable to use a material having a small mass (density) per unit volume in order to reduce the load applied to the moving part by the movement and smooth the movement. In particular, a pet robot may be lifted by an operator, so it is preferable to reduce the weight. However, if the mass per unit volume of the eye portion is large, the weight balance between the front and back of the head of the robot to which the eye is attached becomes unbalanced, and the load associated with the movement of the head becomes large. Therefore, if the mass per unit volume of the eye portion is large, there is a problem that the operation of the robot is hindered. Further, due to factors such as vibration due to the movement of the head, the position of the eyes may shift or fall off.

The present invention has been made in view of such circumstances, and provides a display having a small mass per unit volume, and a robot in which the members constituting the eyes are less likely to be displaced or fall off by using this display. With the goal.

The so-called "eyes" are important components when giving the appearance of a robot a biological character. In general, an "eye" is a part of an eyeball exposed on the surface of an organism, and has a curved shape in which the center of the exposed part is raised. The display in the present invention has the shape characteristic of "eyes", and is a light guide member in which at least a part is exposed on the surface side of the robot, and the central part of the exposed part is more than the peripheral part. Also includes a light guide member formed as a raised curved surface. In a robot having such a shape feature as an "eye" and having a biological feature, a display intended to be attached to a position recognized as an "eye" is particularly expressed as an "eye-shaped display". To do.

In order to solve the above problems, the display according to the first aspect of the present invention (hereinafter, also referred to as “eye-shaped display”) outputs a screen that outputs light indicating an image and at least an image of eyes on the screen. A display including an image display device having a display control means for making the light guide member, and a first surface, a second surface, and a first surface in which the light guide member is arranged so as to face the screen. A hollow tubular portion extending from the first opening on the surface of the surface to the second opening on the second surface, reflecting the light output from the screen and incident on the first opening. A plurality of tubular portions having a reflective surface emitted from the opening of the above are formed on the inner surface, and the member main body includes a member main body for outputting light indicating an image output from the screen through the second surface.

According to the first aspect, by using the light guide member in which a plurality of hollow tubular portions are formed, it is possible to provide a display in which the mass per unit volume is small and misalignment and dropout are unlikely to occur.

In the display according to the second aspect of the present invention, in the first aspect, the first surface is flat and at least a part of the second surface is non-planar.

In the display according to the third aspect of the present invention, in the first or second aspect, the second surface includes at least one surface-shaped portion of a curved surface, a polygonal surface, and a stepped surface. It is composed.

According to the second and third aspects, it is possible to provide a display that has an eye-like roundness of an actual organism, is thicker in the vicinity of the center than the peripheral portion, and has a small mass per unit volume.

In the display according to the fourth aspect of the present invention, in any one of the first to third aspects, the first surface is at least one of a flat surface, a polygonal surface, a cylindrical surface, and a conical surface. ..

According to the fourth aspect, it becomes possible to provide a display having a wider variety of shapes.

The display according to the fifth aspect of the present invention has a light diffusing member arranged in at least one of a first opening and a second opening in any one of the first to fourth aspects to diffuse light. It is intended to be further prepared.

According to the fifth aspect, since the emitted light can be scattered, the viewing angle can be widened.

The display according to the sixth aspect of the present invention further includes a light scattering member which is arranged on the second surface and scatters the light emitted from the second surface in any one of the first to fourth aspects. It was made like this.

According to the sixth aspect, since the incident light and the emitted light can be diffused, the viewing angle can be widened.

In the display according to the seventh aspect of the present invention, in any one of the first to sixth aspects, the display control means causes the display to display information including at least one of an image and characters on the screen. ..

According to the seventh aspect, information other than the image of the eyes can be displayed on the display, so that more diverse display controls can be realized.

The display according to the eighth aspect of the present invention further includes a sensor for detecting the operation of the operating member on the second surface side in any one of the first to seventh aspects, and the display control means detects by the sensor. The image to be output to the screen is changed according to the operation of the operating member.

According to the eighth aspect, since the display content can be changed by the sensor, more diverse display control can be realized.

The robot according to the ninth aspect of the present invention displays the face portion, the display of any one of the first to eighth aspects mounted at the mounting position on the front surface of the face portion, and the image output by the image display device. It is provided with a control means for controlling.

According to the ninth aspect, by using the light guide member in which a plurality of hollow tubular portions are formed, it is possible to provide a robot in which the display is less likely to be displaced and fall off, and it is caused by the mass of the display. Therefore, it is possible to prevent the operation of the robot from becoming unstable.

In the ninth aspect, the robot according to the tenth aspect of the present invention is provided with a recess for mounting the display at the mounting position, and the display is mounted in the recess.

In the ninth or tenth aspect, the robot according to the eleventh aspect of the present invention has a neck portion to which a head including a face is attached, and movable portions provided on the arms, torso, and legs, respectively. An operation means for operating at least one of them is further provided, and the control means controls the operation of each movable portion by the operation means in cooperation with the control of the image to be displayed on the display.

According to the eleventh aspect, more diverse emotional expression functions can be realized by linking the operation of the display and the operation of the robot.

According to the present invention, by using a light guide member in which a plurality of hollow tubular portions are formed, it is possible to provide a display in which misalignment and dropout are unlikely to occur.

FIG. 1 is an external perspective view showing a robot provided with a display (eye-shaped display) according to an embodiment of the present invention. FIG. 2 is a front view of the face of the robot shown in FIG. FIG. 3 is an exploded perspective view showing an eye-shaped display according to an embodiment of the present invention. FIG. 4 is a front view and a cross-sectional view showing an eye-shaped display according to an embodiment of the present invention. FIG. 5A is an exploded perspective view showing another embodiment (polygonal surface) of the eye-shaped display. FIG. 5B is an exploded perspective view showing another embodiment (cylindrical surface) of the eye-shaped display. FIG. 5C is an exploded perspective view showing another embodiment (arbitrary curved surface) of the eye-shaped display. FIG. 6 is a block diagram showing a control system of a robot provided with an eye-shaped display according to an embodiment of the present invention. FIG. 7 is a flowchart showing a control method of a robot provided with an eye-shaped display according to an embodiment of the present invention. FIG. 8A is a cross-sectional view showing a manufacturing process of a light guide member for an eye-shaped display according to an embodiment of the present invention. FIG. 8B is a cross-sectional view showing a manufacturing process of a light guide member for an eye-shaped display according to an embodiment of the present invention. FIG. 8C is a cross-sectional view showing a manufacturing process of a light guide member for an eye-shaped display according to an embodiment of the present invention. FIG. 9 is a flowchart showing a manufacturing process of a light guide member for an eye-shaped display according to an embodiment of the present invention. FIG. 10A is a plan view and a side view showing a light guide member for a drop test. FIG. 10B is an enlarged plan view showing a tubular portion of the light guide member for the drop test.

Hereinafter, embodiments of the display (eye-shaped display) and the robot according to the present invention will be described with reference to the accompanying drawings.

[Overall configuration of robot]
FIG. 1 is an external perspective view showing a robot provided with an eye-shaped display according to an embodiment of the present invention, and FIG. 2 is a front view of a face portion of the robot shown in FIG.

As shown in FIG. 1, the robot 100 according to the present embodiment includes a head portion 102, a body portion 108, an arm portion 110, and a leg portion 116, and the purpose of the robot 100 is according to an operator's instruction or a program prepared in advance. It is a device that can automatically perform the work. The specific form of the robot 100 is not limited to this embodiment. The eye-shaped display of the present embodiment can be applied to a robot having a face, for example, a robot having only a head, only a head and a body, and only a head and an arm.

The material for creating each part of the robot 100 is not particularly limited, but the head 102, the body 108, the arm 110, the leg 116, and other places where the operator is likely to touch are highly durable. It is preferably made of a soft material (for example, resin, soft rubber (hardness 70 or less in one example)).

The head 102 is attached to the upper end of the body 108. An antenna 104 is attached to the upper end (top of the head) of the head 102, and wireless communication is possible.

As shown in FIG. 2, an eye-shaped display 10 and a mouth 106 are attached to the front surface of the head 102 (hereinafter, referred to as a face).

The eye-shaped display 10 is attached to a mounting position at a symmetrical position on the left and right sides of the face. An image of the eyes can be displayed on the eye-shaped display 10. The eye-shaped display 10 will be described later with reference to FIG. 3 and the like.

A light emitting unit (for example, a light emitting diode) is embedded in the mouth portion 106, and an image showing the mouth according to the movement of the eye-shaped display 10, the head 102, the arm 110, and the leg 116 can be displayed. It is possible.

An arm drive shaft 112 is provided at symmetrical positions on the left and right between the upper end and the lower end of the body 108, and the arm 110 is attached to the left and right arm drive shafts 112, respectively. .. The arm drive shaft 112 is attached to a motor (a part of the motion control unit 162 of FIG. 6), and the arm 110 can rotate around the arm drive shaft 112 as a rotation axis. Further, the arm portion 110 is rotatable around the joint portion 110A as a fulcrum. A hand 110B having a finger is provided at the tip of the arm 110, and the hand 110B grips an object, operates the device using the finger, and performs the work specified in the program. It is possible to do.

At the lower end of the body 108, one leg drive shaft 118 is provided at symmetrical positions on the left and right, and the leg 116 is attached to the leg drive shaft 118, respectively. The leg drive shaft 118 is attached to the motor. The leg 116 has a wheel shape that can rotate around the leg drive shaft 118 as a rotation axis, and the robot 100 can move forward and backward by rotating the leg 116. Further, the body 108 of the robot 100 has a built-in steering mechanism (a part of the motion control unit 162 of FIG. 6) for changing the angle of the legs 116 with respect to the body 108. The left and right legs 116 are parallel when the robot 100 moves forward or backward in the front direction (X direction) of the face, but the steering mechanism changes the angle of the legs 116 with respect to the body 108. By doing so, it is possible to change the forward and backward directions of the robot 100. As a result, the robot 100 can move back and forth and left and right.

The configuration of the mouth portion 106, the arm portion 110, the leg portion 116, and the like is not limited to the above embodiment. The mouth 106 may be provided with a movable portion in addition to or in place of the light emitting portion, for example, in the mouth 106. Further, a five-fingered hand portion may be provided instead of the thigh-shaped hand portion 110B, or a bipedal walking leg portion may be provided instead of the wheel-shaped leg portion 116. Further, the number of arms 110 and legs 116 is not limited to 2.

[Eye display]
FIG. 3 is an exploded perspective view showing an eye-shaped display according to an embodiment of the present invention, the upper part of FIG. 4 is a plan view thereof, and the lower part of FIG. 4 is a sectional view thereof.

As shown in FIG. 3, the eye-shaped display 10 according to the present embodiment includes a light guide member 12 and an image display device 30. In the following description, a three-dimensional Cartesian coordinate system in which the extending direction of the light guide member 12 is the z direction will be described.

The display screen 32 of the image display device 30 is flat. As the image display device 30, for example, a device having a backlight such as a liquid crystal display, or a device having a self-luminous function such as an organic EL (electroluminescence) display or an inorganic EL display is used.

The light guide member 12 is a member for guiding (transmitting) the light emitted from the display screen 32 to the front side of the robot 100. The light guide member 12 has a columnar shape, and its diameter can be selected in the range of 1 to 10 cm in one example, and its height H1 can be selected in the range of 1 to 10 cm in one example. As the material of the light guide member 12 (member body), for example, resin (including synthetic resin (so-called plastic)) or rubber can be used. Examples of the type of resin include polyamide, polyoxyethylene, polyester, polyethylene terephthalate, polyimide, polystyrene, polymethylmethacrylate, polycarbonate, polypropylene, ABS resin (acrylonitrile, butadiene (Butadiene), styrene (Styrene) copolymerization. Synthetic resin) and the like can be used. As shown in FIG. 3, the lower surface (first surface, incident surface) 14 of the light guide member 12 has a planar shape, and the upper surface (second surface, exit surface) 16 has a non-planar shape. The lower surface 14 of the light guide member 12 is attached to the flat display screen 32. The image display device 30 is attached to the bottom of the recesses 102A provided at two locations on the left and right of the front surface (face portion) of the head 102. The height (length in the z direction) H1 of the light guide member 12 is larger than the depth D2 of the recess 102A, and the upper surface 16 of the light guide member 12 is exposed from the recess 102A to the front side of the robot 100. In addition, H1 ≦ D2 may be set.

When a liquid crystal display, an organic EL display, or an inorganic EL display is used alone, a wide viewing angle is generally required. However, in the present embodiment, the light from the image display device 30 is guided to the light guide member 12, and the light transmitting through the light guide member 12 has a high transmittance. Therefore, it is preferable that the display screen 32 of the image display device 30 according to the present embodiment has a narrow viewing angle (60 ° in one example). Therefore, it is preferable to use the display screen 32 having a narrow viewing angle, or to provide the display screen 32 with a member such as a film for narrowing the viewing angle (for example, a laminated film provided with a linear polarizing plate).

The light guide member 12 is formed with a plurality of hollow tubular portions 18 extending from the lower surface 14 to the upper surface 16 (along the z direction). The diameter of the tubular portion 18 can be selected in the range of 1 μm to 1 mm in one example. In FIG. 4, for the sake of simplicity, only one tubular portion 18 is shown, but a plurality of tubular portions 18 are actually formed. Hereinafter, the opening (first opening) on the lower surface 14 side of the tubular portion 18 is referred to as 18A, and the opening (second opening) on the upper surface 16 side of the tubular portion 18 is referred to as 18B. The planar shape of the first opening 18A and the second opening 18B is circular, but the present embodiment is not limited to this. For example, the planar shape of the first opening 18A and the second opening 18B may be polygonal.

As shown in FIG. 4, in the eye-shaped display 10 according to the present embodiment, the light L1 output from the display screen 32 of the image display device 30 is transmitted to the first opening 18A on the lower surface 14 side of the light guide member 12. Incident. A reflective film is provided on the inner surface of each tubular portion 18. Here, the internal reflectance of the reflective film on the inner surface of the tubular portion 18 is preferably 30% or more in one example. The light L1 incident from the first opening 18A is reflected inside the tubular portion 18 and then emitted from the second opening 18B. As a result, the image output on the display screen 32 is projected onto the upper surface 16 of the aspherical surface via the light guide member 12, so that the operator can view the image on the eye-shaped display that has a three-dimensional effect and is closer to the eyes of living organisms. It becomes possible to visually recognize.

According to the present embodiment, by using the light guide member 12 made of a material having a small mass per unit volume and having a plurality of hollow tubular portions 18, the eye-shaped display 10 is less likely to be misaligned and fall off. Can be provided. Further, according to the present embodiment, the aspherical eye-shaped display 10 can be realized and the weight of the robot 100 can be reduced. Therefore, the weight of the eye-shaped display hinders the operation of the robot 100. Can be prevented.

In the example shown in FIG. 4, a gap is provided between the light guide member 12 and the recess 102A, but the gap may not be formed between the light guide member 12 and the recess 102A.

The first surface may also be an aspherical surface (for example, at least one of a plane, a polygonal surface, a cylindrical surface, and a conical surface). Further, the eye-shaped display 10 may be directly attached to the surface of the head 102 without providing the recess 102A. Further, the light guide member 12 may not be directly attached (attached) to the display screen 32, but may have a member that transmits light sandwiched between the light guide member 12 and the display screen 32. Further, the lower surface 14 may also be an aspherical surface (for example, including at least one surface-shaped portion of a curved surface, a polygonal surface, and a stepped surface).

[Upper surface of light guide member]
Next, the process applied to the upper surface 16 of the light guide member 12 will be described.

A light scattering member (light scattering film) for scattering light can be provided on the upper surface 16 of the light guide member 12. In this light scattering member, for example, a layer that transmits light (for example, a layer of a resin that transmits visible light) is provided on the upper surface 16 of the light guide member 12, and a resin or polymer that transmits light is provided on the surface of this layer. It can be formed by coating a material in which particles (titanium oxide (TiO ₂ )) that scatter light are dispersed in the light, or by kneading the light guide member 12. Further, as the light scattering member, a member (film) having fine irregularities on the surface may be used. As a result, the emitted light can be scattered, so that the viewing angle can be widened.

Further, the lower surface 14 and the upper surface 16 of the light guide member 12 can be provided with a diffusion member for diffusing the incident light and the emitted light, respectively. This light diffusing member can be formed in the same manner as the light scattering member. As a result, the incident light and the emitted light can be diffused, so that the viewing angle can be widened. The diffusion member may be provided on either the lower surface 14 or the upper surface 16 of the light guide member 12.

Further, a touch sensor (an example of a sensor for detecting the operation of the operation member on the upper surface 16 (second surface) side) is provided on the upper surface 16 of the light guide member 12 so as to receive an operation input from the operator. May be good. The operation method of the robot 100 using this touch sensor will be described later with reference to FIGS. 6 and 7.

It is also possible to provide an antireflection film on the upper surface 16 of the light guide member 12. As the antireflection film, for example, a layer that transmits light (for example, a layer of a resin that transmits visible light) is provided on the upper surface 16 of the light guide member 12, and magnesium fluoride (MgF ₂ ) is provided on the surface of this layer. It can be formed by applying a coating. Here, the reflectance of this antireflection film is preferably 5% or less. As a result, on the upper surface 16 of the light guide member 12, surface reflection due to reflection of an external light source (for example, an electric lamp) can be prevented, so that the visibility of the image on the upper surface 16 can be improved. The antireflection film may be applied to the surface of the touch sensor.

In the examples shown in FIGS. 3 and 4, the light guide member 12 is cylindrical, and the upper surface 16 of the light guide member 12 guides an upwardly convex quadric curve (on the front side of the face, in the + z direction). Although it is a rotating quadric surface (for example, a spherical surface, a rotating paraboloid) rotated around the central axis AX1 of the optical member 12, the present invention is not limited to this. For example, as shown in FIGS. 5A and 5B, the shape of the light guide member 12 may be a quadrangular prism, a polygonal prism or a truncated cone (a truncated cone or a truncated cone). Further, the upper surface 16 of the light guide member 12 may be a polygonal surface in which a plurality of planes are combined as shown in FIG. 5A, or a cylindrical surface or a C-shaped cross section as shown in FIG. 5B. It may be. Further, the upper surface 16 of the light guide member 12 may be an arbitrary curved surface (for example, a quadric surface) as shown in FIG. 5C. Further, the upper surface 16 of the light guide member 12 may be a rotational quadric surface obtained by rotating a quadric curve convex downward (in the −z direction) around the central axis AX1.

[Cylindrical part]
Next, the tubular portion 18 will be described. In the following description, it is assumed that the origin O of the three-dimensional Cartesian coordinate system is on the central axis AX1 of the light guide member 12.

Since the lower surface 14 of the light guide member 12 is flat and the upper surface 16 of the light guide member 12 is non-planar, the first opening 18A and the second opening 18A and the second opening 18A and the second depending on the plane position (xy plane position) of the light guide member 12. The distance H2 between the openings 18B is different. In the examples shown in FIGS. 3 and 4, since the upper surface 16 is a rotational quadric surface centered on the central axis AX1, the closer the position of the tubular portion 18 is to the center of the light guide member 12 on the xy plane. (The smaller the value of (x ² + y ² ) ^1/2 ), the larger the value of the length H2 of the light propagation path, and the darker the image.

Therefore, in the xy plane, the closer the position of the tubular portion 18 is to the center of the light guide member 12 (the smaller the value of (x ² + y ² ) ^1/2 , the larger the region where the value of H2 is), (1 ) Increase the reflectance of the reflective surface of the tubular portion 18, (2) increase the diameter of the tubular portion 18, (3) increase the number of tubular portions 18 per unit area, or (4) increase the upper surface. It is preferable to increase the light transmittance in the filter (filter (film) that transmits visible light) provided in 16. Further, (5) for at least a part of the tubular portion 18, a tapered shape in which the diameter of the first opening 18A is larger than the diameter of the second opening 18B (for example, at least a part of the tubular portion 18 is tapered. The closer the position of the tubular portion 18 is to the center of the light guide member 12 ((x ² + y ² ), the smaller the value of ^1/2 , and the larger the value of H2, the larger the region. ), The number (ratio) of the number of tubular portions 18 processed into a tapered shape per unit area may be reduced. Further, the tubular portion 18 may be designed by combining (1) to (5). As a result, it is possible to prevent the image at the position where the value of H2 is large and the propagation path of the light L1 is long from becoming darker than the place where the propagation path is short, and the brightness of the image is adjusted by the light guide member 12. It can be evened regardless of the position.

In this embodiment, by changing the arrangement, arrangement density, or shape of the tubular portion 18, it is possible to prevent the amount of light on the upper surface 16 of the light guide member 12 from becoming uneven with respect to an image having the same brightness. However, the present invention is not limited to this. For example, control for creating data on the value of H2 of the tubular portion 18 facing each other for each position of the display screen 32 and adjusting the amount of light for each position of the display screen 32 (for example, for an image having the same brightness). , The output light amount is increased as the value of H2 is larger).

The tubular portions 18 are preferably arranged in a planar shape of the light guide member 12 at non-uniform intervals (non-equal intervals). For example, the tubular portion 18 may be arranged at the position of the apex of the Penrose tile in the xy plane. Further, the tubular portions 18 may be arranged at intervals of the Fibonacci number. As a result, when the second openings 18B are arranged at equal intervals, it is possible to prevent the occurrence of moire that may occur due to the interference of the light L1 emitted from the second openings 18B at equal intervals.

Further, the tubular portion 18 may be arranged at the apex of the so-called Fibonacci rectangle. For example, a rectangle with a larger area (ie, a rectangle with wider vertices spacing) is placed in a region with a smaller H2 value (ie, a region with a shorter light propagation path) and a rectangle with a smaller area (ie, the rectangle). The tubular portion 18 is located at the apex so that the rectangle with the narrower apex spacing is located in the area where the H2 value is larger (ie, the area where the light propagation path is longer). It may be. As a result, the shorter the light propagation path is, the smaller the number of tubular portions 18 per unit area can be reduced, and the tubular portions 18 can be arranged at non-equal intervals. Therefore, the upper surface 16 of the light guide member 12 In the above, it is possible to prevent the occurrence of a region having low brightness and prevent the occurrence of moire.

[Control system for robots and eye-shaped displays]
FIG. 6 is a block diagram showing a control system of a robot provided with an eye-shaped display according to an embodiment of the present invention.

As shown in FIG. 6, the robot 100 according to the present embodiment includes a control unit 150, an operation unit 152, a memory 154, a power supply circuit 156, an image memory 158, an output control unit 160, an operation control unit 162, and a communication interface (I / O). F) 164, an audio input / output unit 166, and an image display device 30 are provided. The image display device 30 includes a display control unit 34, a display storage unit 36, and a communication interface (I / F) 38. The control unit 150 of the robot 100 and the image display device 30 are communicably connected via I / F 164 and I / F 38.

The control unit (control means) 150 is a computing device that comprehensively controls each unit of the robot 100 according to the present embodiment, and is received by the antenna 104 via the operation input from the operation unit 152 and the touch sensor 50 or the network NW. A control signal is transmitted to each part of the robot 100 in response to an instruction input from an external device 300 (for example, a wireless controller, a personal computer, etc.) to control the operation of each part of the robot 100.

The operation unit 152 is a means for receiving an operation input from a user, and includes, for example, a power switch, an operation switch, a keyboard for character input, and the like. The operation unit 152 may be built in the robot 100, or may be connected by a wired connection (for example, USB (Universal Serial Bus)), a wireless connection (Bluetooth (registered trademark)), or the like.

The memory 154 is a storage device in which a program used by the control unit 150 to perform an operation related to the operation of the robot 100 is stored. The programs include, for example, an motion control program for controlling the motions of the head 102, the arms 110, and the legs 116 according to the operation input, and a display control program for controlling the display contents of the eye-shaped display 10. Is included.

The power supply circuit 156 is a device for supplying electric power to each part of the robot 100, and includes a rechargeable battery.

The image memory 158 stores image information including an eye image for output to the image display device 30 and character information. The control unit 150 can display these image information and character information on the eye-shaped display 10. The image memory 158 may be provided in the image display device 30.

As the memory 154 and the image memory 158, for example, a device including a magnetic disk such as an HDD (Hard Disk Drive), a device including a flash memory such as an eMMC (embedded Multi Media Card), an SSD (Solid State Drive), or the like is used. Can be done.

The output control unit (display control means) 160 reads an image from the image memory 158 and outputs the image to the image display device 30 in response to an instruction from the control unit 150.

The motion control unit (operation means) 162 includes a motor for driving the arm 110 and the leg 116, and a steering mechanism for driving the leg 116, and each unit follows a control signal from the control unit 150. Control the operation of.

The voice input / output unit 166 includes, for example, a speaker for outputting voice and a microphone for collecting voice. The voice input / output unit 166 can receive a voice instruction input and output voice in response to a control signal from the control unit 150. In addition, in cooperation with the output of voice, the light emitting portion of the mouth portion 106 may emit light or blink.

The display control unit (display control means) 34 is an arithmetic unit that collectively controls the operation of each unit of the image display device 30, and controls an image output to the display screen 32 according to a control signal from the control unit 150 (display image). Change, adjust brightness, etc.).

The display storage unit 36 includes a non-volatile memory in which a control program executed by the display control unit 34 is stored, and a buffer memory for temporarily storing an image output by the output control unit 160.

The touch sensor 50 (an example of a sensor that detects the operation of the operating member on the upper surface 16 (second surface) side) is provided on the upper surface 16 of the light guide member 12 of the eye-shaped display 10. As the touch sensor 50, for example, a capacitance type touch sensor 50 can be used. In the capacitance type touch sensor 50, a pen or the like (hereinafter, the hand, finger, pen, etc.) to which a conductive member having conductivity is attached to the operator's hand, finger, or tip is collectively referred to as a "conductive operating member". When the touch sensor 50 comes into contact with or approaches the touch sensor 50, the capacitance between the conductive film on the surface of the touch sensor 50 and the conductive operating member changes, and the touch sensor 50 changes the capacitance. By detecting, the content of the operator's operation (for example, the touched position, the swipe operation) is detected. When the operation input is detected by the touch sensor 50, the operation input content is transmitted to the control unit 150. The control unit 150 controls each unit of the robot 100 according to the content of the operation input detected by the touch sensor 50.

As a touch operation detection method in the touch sensor 50, a method other than the capacitance type, for example, a resistance film method or the like can be used. When a touch sensor 50 of a method of detecting a pressure load (pressure sensitive type) such as a resistive film method is used, the touch sensor 50 may be provided on the upper surface 16 of the light guide member 12, or the eye-shaped display 10 It may be provided on the back side (for example, the lower surface 14 or the display screen 32). When the touch sensor 50 of the type that detects the pressure load is provided on the back side of the eye-shaped display 10, the upper surface 16 of the light guide member 12 is an operating member (including a non-conductive operating member) such as an operator's finger. When pressed, the pressure due to the pressing is transmitted to the touch sensor 50 via the light guide member 12, and the control unit 150 can recognize the operation input content by the operator by detecting this pressure.

The sensor that detects the operation of the operating member on the upper surface 16 (second surface) side is not limited to the touch sensor. For example, it is also possible to use a capacitance type proximity sensor. The capacitance type proximity sensor detects the intrusion of the conductive operating member into the detection region near the proximity sensor and the detachment of the conductive operating member from this detection region. The capacitance type proximity sensor can be provided in the peripheral portion of the upper surface 16 of the light guide member 12. The capacitance type proximity sensor includes electrodes provided on or near the surface 16 of the upper surface 16 of the light guide member 12. The electrodes are arranged so as to surround the upper surface 16 of the light guide member 12. When the upper surface 16 has an upwardly convex shape as in the present embodiment, it may be provided at or near the apex of the upper surface 16 in addition to the periphery of the upper surface 16. In the capacitance type proximity sensor, an electric field is generated in a detection region set near the upper surface 16 of the light guide member 12 by this electrode, and an operation member made of a conductive operation member or a dielectric is generated in this detection area. The change in the capacitance of the electrode caused by the intrusion is converted into an electric signal to detect the approach of an object. The detection region of the capacitance type proximity sensor is set so that the distance from the upper surface 16 of the light guide member 12 is, for example, an order region of 1 mm to 1 cm or a region of about 10 cm. Further, the detection region in the capacitance type proximity sensor may be set according to the size of the light guide member 12, for example, a region of 1/10 or less of the diameter of the light guide member 12. It is also possible. Further, this detection region may be adjustable by adjusting the strength of the electric field with a volume (variable resistor) provided in the capacitance type proximity sensor.

FIG. 7 is a flowchart showing a control method of a robot provided with an eye-shaped display according to an embodiment of the present invention.

First, when the power of the robot 100 is turned on and started, the control unit 150 outputs a control signal to the operation control unit 162 according to the operation control program, and the initial operation at the time of activation (for example, the arm 110) is output to each part of the robot 100. Swing up, move back and forth by the leg 116, emit a voice, move each part together to greet, etc.). According to the display control program, the image of the eyes (for example, the image of opening the closed eyes) is read from the image memory 158 and output to the image display device 30 via the I / F 164 and the I / F 38. The display control unit 34 outputs the image of the eyes input via the I / F 38 to the display screen 32. As a result, the light indicating the image output from the display screen 32 propagates to the upper surface 16 through the tubular portion 18 of the light guide member 12, and the operator can visually recognize the image of the upper surface 16 of the light guide member 12. It becomes possible (step S10). Then, the control unit 150 outputs and displays the image of the eyes on the image display device 30 according to the display control program according to the passage of time or in cooperation with the operation of the robot 100. As a result, it is possible to realize a rich emotional expression linked with the display contents of the eye-shaped display 10 throughout the operation of the robot 100.

Next, when the touch operation of the operator is detected by the touch sensor 50 on the upper surface 16 of the light guide member 12 (Yes in step S12), the display control unit 34 determines the content of the touch operation (for example, the number of touches, the touch). (Position, strength, etc.) information is output to the signal control unit 150. When the control unit 150 receives the signal indicating the content of the touch operation, the control unit 150 reads the image or information corresponding to the content of the touch operation from the image memory 158 according to the display control program, or reads the touch operation via the network. The image or information corresponding to the above is acquired, output to the image display device 30, and displayed on the display screen 32 (step S14).

Then, when a display end instruction (for example, a power off instruction) is detected by the operation unit 152, the touch sensor 50, or a signal input from the outside (Yes in step S16), the process ends.

[Manufacturing method of light guide member for eye-shaped display]
Next, a method of manufacturing a light guide member for an eye-shaped display according to an embodiment of the present invention will be described.

8A to 8C are cross-sectional views showing a manufacturing process of a light guide member for an eye-shaped display according to an embodiment of the present invention, and FIG. 9 is a flowchart showing this manufacturing process.

First, preparatory steps such as cutting out the material 12A of the light guide member 12 and placing it in a chamber (not shown) (FIG. 8A) are performed (step S30).

Next, the tubular portion 18 is formed on the material 12A by the laser beam (step S32). FIG. 8B shows an outline of the process of forming the tubular portion 18 by the laser processing apparatus.

The laser processing device according to the present embodiment includes a control device 200, an operation unit 202, a memory 204, a laser light output device 206, and an air supply device 208.

The control device 200 is an arithmetic device that controls each part of the laser processing device, and controls the output of laser light, controls the position of the laser irradiation position by the laser light output device 206, and sends air according to the operation input from the operation unit 202. The position of the air supply port of the device 208 is controlled.

The operation unit 202 is a device for receiving an operation input from an operator of the laser processing apparatus, and is, for example, various parameters (for example, the type and size of the resin material 12A, the size and position of the tubular portion 18, and the light guide. Accepts the setting of the completed shape of the member 12).

The memory 204 includes a storage device for storing a program for calculation of the control device 200, and a buffer memory for temporarily storing the operation contents from the operation unit 202.

The control device 200 calculates, for example, the shape and arrangement of the tubular portion 18 according to the type and size of the resin material 12A and the size of the tubular portion 18, and performs the laser beam output device 206 and the air supply. It controls 208 of the device.

The laser beam output device 206 outputs a laser beam LB (for example, a carbon dioxide gas laser (wavelength 10.6 μm)) according to a control signal from the control device 200, and forms a tubular portion 18 on the material 12A.

Air supply unit 208, gas B1 (e.g., nitrogen _(N 2), argon (Ar) or the like) at the irradiation position and around the laser beam by blowing, to remove material 12A which has been melted by the laser beam.

By irradiating the material 12A with a laser beam while moving the laser light output device 206, a plurality of tubular portions 18 are formed on the material 12A.

Next, a reflective surface is formed on the inner surface of the tubular portion 18 (step S34). This reflective surface is created, for example, by infiltrating the material on which the tubular portion 18 is formed into, for example, the material of the reflective surface (for example, a fluororesin or the like).

Next, the material 12A on which the tubular portion 18 is formed is subjected to processing such as deburring and grinding to form the material 12A into a predetermined shape. In step S36, the material 12A is ground by, for example, a grinding means (for example, a blade) (not shown).

Then, when the above-mentioned light scattering member, light diffusion member, antireflection film and the like are formed, and the touch sensor is attached. As shown in FIG. 8C, the light guide member 12 is completed (step S38). After that, the image display device 30 is attached, and the wiring is attached to complete the eye-shaped display 10.

According to the present embodiment, by using a laser beam or the like for a material having a relatively small mass per unit volume, it is possible to easily create a lightweight light guide member 12 having little influence on the operation of the robot 100. It will be possible.

In the present embodiment, after forming the reflection surface on the inner surface of the cylindrical portion 18, for example, capable of transmitting visible light material (e.g., a gas (eg, N _2, etc.), liquids, gels, and the like) May be provided with a step of filling. Further, the upper surface 16 of the light guide member 12 may be painted black.

The mass (density) per unit area of the light guide member 12 is, for example, 1.5 g / cm ³ or less, preferably 1.0 g / cm ³ or less, and more preferably 0.90 g / cm ³ or less. is there. By keeping the density of the light guide member 12 within the above range, it is possible to more reliably prevent the eye-shaped display 10 from being displaced and falling off. The density of glass fiber is 2.2 to 2.5 g / cm ³ in one example, while the density of resin (including synthetic resin (so-called plastic)) is 0.99 to 1.5 g / cm ^{3 in} one example. Is. When the aperture ratio (ratio of openings per unit area) of the light guide member 12 is 0.50, the density of the resin light guide member 12 according to the present embodiment is 0.45 to 0.75 g /. It becomes cm ³ and falls within the above density range. By using such a light guide member 12, it is possible to prevent the eye-shaped display 10 from falling off during the operation of the robot 100.

[Stress test]
Next, a stress test (drop test) on the light guide member produced by the method for manufacturing the light guide member according to the present embodiment will be described. 10A is a plan view (upper part) and a side view (lower part) showing a light guide member for a drop test, and FIG. 10B is an enlarged plan view showing a tubular portion of the light guide member for a drop test. is there.

The light guide member 12 shown in FIG. 10A is made of synthetic resin (so-called plastic) and has a cylindrical shape with a diameter R12 = 50 mm and a thickness of 3.0 mm. A cylindrical through hole (cylindrical portion 18) having a diameter of R18 = 0.60 mm was created in an area A12 having a diameter of RA = 40 mm at the center of the light guide member 12. The tubular portion 18 was created by a carbon dioxide gas laser with a horizontal spacing P1 and a vertical spacing P2 of 1.0 mm.

Next, a plate 400 having a thickness of 3.0 mm and a circular hole 404 having a diameter of 50 mm formed in the center was prepared, and the light guide member 12 was fitted into the hole 404. Claws 402 were attached to both sides of the plate 400 at three locations on the circumference of the hole 404, and the light guide member 12 was fixed by the claws 402. The size of the claw 402 (the length of the portion protruding toward the hole 404) P402 was 1.0 mm.

As a comparative example, a light guide member (diameter 50 mm, thickness 3.0 mm) made of glass fiber having the same diameter and thickness as the light guide member 12 according to the present embodiment is created, and the light guide member 12 according to the present embodiment is created. In the same manner as above, the plate 400 was fixed to the plate 400 using the claws 402.

A drop test was performed on the plate 400 into which the light guide member 12 according to the present embodiment was fitted and the plate 400 into which the light guide member made of glass fiber (comparative example) was fitted. In this drop test, the plate 400 into which the light guide member 12 according to the present embodiment is fitted and the plate 400 into which the light guide member made of glass fiber (comparative example) is fitted are 10 from a height of 1.0 m, respectively. It was dropped (free fall). This drop test was conducted in accordance with IEC 60068-2-31: 2008 (IEC: International Electrotechnical Commission).

As a result, the light guide member made of glass fiber fell off from the plate 400, but the light guide member 12 according to the present embodiment remained fixed to the plate 400. The density of the light guide member 12 according to the present embodiment was 0.85 g / cm ³ , and the density of the light guide member made of glass fiber was 2.2 g / cm ³ .

In this way, by using the light guide member 12 made of a material having a low density (0.90 g / cm ³ or less) in the eye-shaped display 10, the eye-shaped display 10 falls off during the operation of the robot 100. Can be prevented.

10-eye display 12 Light guide member 12A Material of light guide member (resin material)
14 Bottom surface (first surface)
16 Top surface (second surface)
18 Cylindrical part 18A First opening 18B Second opening 30 Image display device 32 Display screen 34 Display control unit 36 Display storage unit 38 Communication interface (I / F)
50 Touch sensor 100 Robot 102 Head 102A Recessed 104 Antenna 106 Mouth 108 Body 110 Arm 110A Joint 110B Hand 112 Arm drive shaft 116 Leg 118 Leg drive shaft 150 Control 152 Operation 154 Memory 156 Power supply Circuit 158 Image memory 160 Output control unit 162 Operation control unit 164 Communication interface (I / F)
166 Audio input / output unit 166
200 Control device 202 Operation unit 204 Memory 206 Laser light output device 208 Air supply device 300 External device AX1 Central axis B1 Gas L1 Light LB Laser light NW network S10 to S16 Display control process for eye display S30 to S38 Manufacture of light guide member Process 400 Plate 402 Claw 404 Hole

Claims (11)

An image display device having a screen that outputs light indicating an image and a display control means that outputs at least an image of the eyes to the screen.
A display provided with a light guide member
The light guide member
A first surface arranged to face the screen and
A second surface arranged to face the first surface and
A hollow tubular portion extending from the first opening of the first surface to the second opening of the second surface, and the light output from the screen and incident on the first opening. A plurality of tubular portions are formed on the inner surface of which is a reflective surface that reflects and emits light from the second opening, and light indicating the image output from the screen is transmitted through the second surface. Equipped with a member body to output
On the second surface of the tubular portion, the second openings are arranged at non-uniform intervals , and between the first opening and the second opening in the tubular portion. as the distance area value is large, the second side of the tubular portion, the number per unit area of the tubular portion is Ru is often arranged,
display. The first surface is a flat surface,
Wherein at least a portion of the second surface is non-planar, claim 1 Symbol placement display. The display according to claim 1 or 2, wherein the second surface includes at least one surface-shaped portion of a curved surface, a polygonal surface, and a stepped surface. The display according to any one of claims 1 to 3 , wherein the first surface is at least one of a flat surface, a polygonal surface, a cylindrical surface, and a conical surface. The display according to any one of claims 1 to 4 , further comprising a light diffusing member arranged in at least one of the first opening and the second opening and diffusing light. The display according to any one of claims 1 to 4 , further comprising a light scattering member arranged on the second surface and scattering light emitted from the second surface. The display according to any one of claims 1 to 6 , wherein the display control means displays information including at least one of an image and characters on the screen. A sensor for detecting the operation of the operating member on the second surface side is further provided.
The display according to any one of claims 1 to 7 , wherein the display control means changes an image to be output to the screen according to the operation of the operating member detected by the sensor. With the face
The display according to any one of claims 1 to 8 , which is attached to the attachment position on the front surface of the face portion.
A control means for controlling an image output by the image display device, and
A robot equipped with. The mounting position is provided with a recess for mounting the display.
The robot according to claim 9 , wherein the display is attached to the recess. Further provided with an operating means for operating the neck portion to which the head including the face portion is attached and at least one of the movable portions provided on the arms, torso and legs, respectively.
The robot according to claim 9 or 10 , wherein the control means controls the operation of each movable portion by the operation means in cooperation with the control of an image displayed on the display.

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